CN115294698A - Automatic tool distribution and recovery system and method based on unmanned tool vehicle - Google Patents
Automatic tool distribution and recovery system and method based on unmanned tool vehicle Download PDFInfo
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- G—PHYSICS
- G07—CHECKING-DEVICES
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- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10297—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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Abstract
The invention relates to an automatic tool distribution and recovery system and method based on an unmanned tool vehicle. The system comprises a mobile client, a cloud background server, an unmanned tool vehicle end and an access control system. The cloud background server is used as a core to realize the logical relationship among the mobile client, the unmanned tool vehicle end and the access control system, so that the whole system operates efficiently. The invention can effectively manage the tool, improve the utilization rate of the tool, reduce the loss of the tool or other equipment, reduce the investment of related management personnel, has simple and convenient use method, effectively reduces the production cost of factories, improves the production efficiency and can promote the safety of production work.
Description
Technical Field
The invention relates to the field of unmanned tool vehicles, in particular to an automatic tool distribution and recovery system and method based on the unmanned tool vehicle.
Background
With the development of unmanned technology in recent years, the application field is gradually widened. At present, tools in a workshop or a production place are lack of system management, the problems of loss or damage often occur, and even dangerous accidents are caused by accidental tools left in equipment.
At present, although the existing unmanned vehicle can realize automatic goods distribution, the existing unmanned vehicle is only in a fixed distribution mode of a single fixed route and a station, cannot realize an intelligent driving distribution scheme of multiple routes and stations of one vehicle, cannot support human-computer interaction, cannot meet supply on demand, and has poor driving safety.
Therefore, under the technical support of no-driver, how to research a reliable method is necessary to realize automation of automatic allocation and recovery management of tools.
Disclosure of Invention
In view of the defects of the prior art, the invention provides the automatic tool distribution and recovery system and method based on the unmanned tool vehicle, which not only effectively manage the tools, improve the utilization rate of the tools, reduce the loss of the tools or other equipment and reduce the investment of related management personnel, but also have simple and convenient use method, effectively reduce the production cost of factories, improve the production efficiency and promote the safety of production work.
In order to achieve the above objects and other related objects, the present invention adopts the following technical solutions:
an automatic tool distribution and recovery system based on an unmanned tool vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network; the utility model discloses a AGV unmanned vehicle, including AGV unmanned vehicle chassis, instrument storage box one side all is equipped with the cabinet door, installs high in the clouds backend server remote control's electric control lock on the cabinet door, still is equipped with industrial computer and the camera with high in the clouds backend server butt joint on the AGV unmanned vehicle chassis, and industrial computer is connected with the voice broadcast device, unmanned AGV unmanned vehicle chassis with high in the clouds backend server wireless network connects.
Furthermore, the access control system is provided with a recognition device and an alarm device.
In order to achieve the above objects and other related objects, the present invention further provides an automatic tool delivery and recovery method based on an unmanned vehicle, the method comprising the steps of:
s1: based on a cloud background server, acquiring a factory map and position information of each station site;
s2: planning the driving routes of different unmanned tool vehicles, and simultaneously carrying out distribution of different station sites of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, a worker registers the mobile client, and a required tool is selected through the mobile client;
s4: the cloud background server sends information to the mobile client, a user borrows and returns tools through the mobile client, and the mobile client performs user identity authentication and reminds an unreturned order;
s5: after receiving the requirements of the mobile client, the cloud background server distributes tasks to the unmanned tool car closest to the mobile client in need, and sends verification codes to the mobile client;
s6: the unmanned tool vehicle automatically drives to a station nearby a station where a mobile client with a demand is located after receiving a task dispatched by the cloud background server, and voice broadcasting reminding is carried out;
s7: the unmanned tool vehicle is characterized in that a worker waits at a designated stop point, after the unmanned tool vehicle arrives, identity verification is carried out through a face recognition function of a verification code or a camera on a display, a corresponding tool storage box door is automatically opened by a tool cabinet, the tool cabinet reminds a tool to return to work, after the worker obtains the tool, tool information is bound with a mobile client and uploaded to a cloud background server, and the unmanned tool vehicle automatically leaves and returns to a standby parking station.
Further, in step S2, the following steps are included:
s21: acquiring plant grid map information, calculating the distance from each pixel in the grid map to each station by the cloud background server, and outputting gravity matrix data when the distance is larger and the value assignment to the pixel is larger;
s22: based on the information of the factory grid map, the cloud background server calculates the distance from each pixel in the grid map to all the obstacles, and if the distance is larger, the assignment of the pixel is smaller, and repulsion matrix data is output;
s23: combining the attraction matrix data and the repulsion matrix data to output a fusion data matrix;
s24: based on the fusion data matrix, an optimal path from the starting point to the target station is obtained according to a gradient descent or a domain search method, and the unmanned tool vehicle reaches the target station according to the optimal path.
Furthermore, the cloud background server automatically performs borrowing and returning process processing, and supports manual takeover processing.
Further, when access control system monitors that there is the instrument to leave factory entrance guard, send the warning signal and give high in the clouds backend server, high in the clouds backend server sends and reminds return information to give corresponding mobile client, also sends the instruction simultaneously and gives nearest unmanned vehicle, and unmanned vehicle automatically travels near factory entrance guard's stop and waits, and the workman can only allow to pass after returning the instrument.
Further, after the tools are lent out for 24 hours, the cloud background server sends return reminding to the corresponding mobile client for the tools which are placed in a factory and are not returned.
The invention has the advantages and positive effects that:
1) The tool management system can effectively manage the tool, improve the utilization rate of the tool, reduce the loss of the tool or other equipment, reduce the investment of related management personnel, has simple and convenient use method, effectively reduces the production cost of factories, improves the production efficiency and can promote the safety of production work.
2) According to the invention, the unmanned patrol vehicle is provided with the tool cabinet, the tool storage box and the electric control lock, so that unified management of tools can be realized, the tool is convenient to borrow, the tools are prevented from being lost, and the working efficiency is improved.
3) According to the invention, the tools are prevented from being forgotten to corners and being taken out of factories through the detection of the access control system and the RFID identification chips of the tools, so that the return rate of the tools is improved and the loss rate of the tools is reduced.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic structural view of the unmanned vehicle of the present invention.
The reference numbers in the figures illustrate: 1-industrial control computer, 2-voice broadcast device, 3-the case is deposited to the instrument, 4-electric control lock, 5-camera, 6-AGV unmanned vehicles chassis, 7-the tool cabinet, 8-the display screen.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example (b): as shown in fig. 2, an automatic tool distribution and recovery system based on an unmanned vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network, the unmanned vehicle comprises an AGV unmanned vehicle chassis 6, a tool cabinet 7 is arranged on the AGV unmanned vehicle chassis 6, a plurality of tool storage boxes 3 are arranged in the tool cabinet 7 in a dividing manner, an RFID identification chip is installed on each tool, and each tool is stored in the tool cabinet 3 with a corresponding number;
3 one side of case is all equipped with the cabinet door to the instrument, installs high in the clouds backend server remote control's electric control lock 4 on the cabinet door, still is equipped with industrial control computer 1 and camera 5 with high in the clouds backend server butt joint on the AGV unmanned vehicles chassis 6, and industrial control computer 1 is connected with the voice broadcast device, unmanned AGV unmanned vehicles chassis 6 with high in the clouds backend server wireless network connects.
Furthermore, the access control system is provided with a recognition device and an alarm device.
In order to achieve the above and other related objects, as shown in fig. 1, the present invention further provides an automatic tool delivery and recovery method based on an unmanned vehicle, the method comprising the steps of:
s1: acquiring a factory map and position information of each station site based on a cloud background server;
s2: planning the running routes of different unmanned tool vehicles, and simultaneously carrying out distribution of different station sites of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, a worker registers the mobile client, and a required tool is selected through the mobile client;
s4: the cloud background server sends information to the mobile client, a user borrows and returns tools through the mobile client, and the mobile client performs user identity authentication and reminds that orders are not returned;
s5: after receiving the requirements of the mobile client, the cloud background server distributes tasks to the unmanned tool vehicle closest to the mobile client in need, and sends verification codes to the mobile client;
s6: the unmanned tool vehicle automatically drives to a station nearby a station where a mobile client with a demand is located after receiving a task dispatched by the cloud background server, and voice broadcasting reminding is carried out;
s7: the unmanned tool vehicle is characterized in that a worker waits at a designated stop point, after the unmanned tool vehicle arrives, identity verification is carried out through a face recognition function of a verification code or a camera on a display, a corresponding tool storage box door is automatically opened by a tool cabinet, the tool cabinet reminds a tool to return to work, after the worker obtains the tool, tool information is bound with a mobile client and uploaded to a cloud background server, and the unmanned tool vehicle automatically leaves and returns to a standby parking station.
Further, in step S2, the following steps are included:
s21: acquiring plant grid map information, calculating the distance from each pixel in the grid map to each station by the cloud background server, and outputting gravity matrix data when the distance is larger and the value assignment to the pixel is larger;
s22: based on the information of the factory grid map, the cloud background server calculates the distance from each pixel in the grid map to all the obstacles, and if the distance is larger, the assignment of the pixel is smaller, and repulsion matrix data is output;
s23: combining the attraction matrix data and the repulsion matrix data to output a fusion data matrix;
s24: and based on the fusion data matrix, obtaining an optimal path from the starting point to the target station according to gradient descent or a field search method, and enabling the unmanned tool vehicle to reach the target station according to the optimal path.
Further, the cloud background server automatically performs borrowing and returning process processing, and meanwhile supports manual takeover processing.
Further, when access control system monitors that there is the instrument to leave factory entrance guard, send the warning signal and give high in the clouds backend server, high in the clouds backend server sends and reminds return information to give corresponding mobile client, also sends the instruction simultaneously and gives nearest unmanned vehicle, and unmanned vehicle automatically travels near factory entrance guard's stop and waits, and the workman can only allow to pass after returning the instrument.
Further, after the tools are lent out for 24 hours, the cloud background server sends return reminding to the corresponding mobile client for the tools which are placed in a factory and are not returned.
In conclusion, the tool management system can effectively manage the tool, improve the utilization rate of the tool, reduce the loss of the tool or other equipment, reduce the investment of related management personnel, has simple and convenient use method, effectively reduces the production cost of factories, improves the production efficiency and can promote the safety of production work.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (7)
1. The automatic tool distribution and recovery system based on the unmanned tool vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network; the utility model discloses a AGV unmanned vehicle, including AGV unmanned vehicle chassis, instrument storage box one side all is equipped with the cabinet door, installs high in the clouds backend server remote control's electric control lock on the cabinet door, still is equipped with industrial computer and the camera with high in the clouds backend server butt joint on the AGV unmanned vehicle chassis, and industrial computer is connected with the voice broadcast device, unmanned AGV unmanned vehicle chassis with high in the clouds backend server wireless network connects.
2. The automated unmanned vehicle-based tool delivery and retrieval system of claim 1, wherein: the access control system is provided with an RFID recognition device and an alarm device.
3. An automatic tool delivery and recovery method based on an unmanned tool vehicle, applied to the system of claim 1 or 2, characterized in that the method comprises the following steps:
s1: acquiring a factory map and position information of each station site based on a cloud background server;
s2: planning the driving routes of different unmanned tool vehicles, and simultaneously carrying out distribution of different station sites of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, a worker registers the mobile client, and a required tool is selected through the mobile client;
s4: the cloud background server sends information to the mobile client, a user borrows and returns tools through the mobile client, and the mobile client performs user identity authentication and reminds an unreturned order;
s5: after receiving the requirements of the mobile client, the cloud background server distributes tasks to the unmanned tool car closest to the mobile client in need, and sends verification codes to the mobile client;
s6: the unmanned tool vehicle automatically drives to a station nearby a station where a required mobile client is located after receiving a task dispatched by the cloud background server, and carries out voice broadcast reminding;
s7: the unmanned tool vehicle is characterized in that a worker waits at a designated stop point, after the unmanned tool vehicle arrives, identity verification is carried out through a face recognition function of a verification code or a camera on a display, a corresponding tool storage box door is automatically opened by a tool cabinet, the tool cabinet reminds a tool to return to work, after the worker obtains the tool, tool information is bound with a mobile client and uploaded to a cloud background server, and the unmanned tool vehicle automatically leaves and returns to a standby parking station.
4. The automated unmanned vehicle-based tool allocation and recovery method according to claim 3, wherein: in step S2, the following steps are included:
s21: acquiring plant grid map information, calculating the distance from each pixel in the grid map to each station by the cloud background server, and outputting gravity matrix data when the distance is larger and the value assignment to the pixel is larger;
s22: based on the information of the factory grid map, the cloud background server calculates the distance from each pixel in the grid map to all the obstacles, and if the distance is larger, the assignment of the pixel is smaller, and repulsion matrix data is output;
s23: combining the attraction matrix data and the repulsion matrix data to output a fusion data matrix;
s24: based on the fusion data matrix, an optimal path from the starting point to the target station is obtained according to a gradient descent or a domain search method, and the unmanned tool vehicle reaches the target station according to the optimal path.
5. The automated unmanned vehicle-based tool allocation and recovery method according to claim 3, wherein: the cloud background server automatically performs borrowing and returning flow processing, and meanwhile supports manual takeover processing.
6. The automated unmanned vehicle-based tool allocation and recovery method according to claim 3, wherein: when the access control system monitors that a tool leaves a factory entrance guard, a reminding signal is sent to the cloud background server, the cloud background server sends reminding return information to the corresponding mobile client, and meanwhile sends an instruction to the nearest unmanned tool car, the unmanned tool car automatically runs to a stop point near the factory entrance guard to wait, and the tool can be allowed to pass after a worker returns the tool.
7. The automated unmanned vehicle-based tool allocation and recovery method according to claim 3, wherein: and after the tool is lent for 24 hours, the cloud background server sends a return prompt to the corresponding mobile client for the tool which is placed in a factory and is not returned.
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